/*
 * File: J_rl_T04_q3.c
 *
 * MATLAB Coder version            : 5.2
 * C/C++ source code generated on  : 22-Apr-2025 04:17:19
 */

/* Include Files */
#include "J_rl_T04_q3.h"
#include <math.h>

/* Function Definitions */
/*
 * J_RL_T04_Q3
 *     U43 = J_RL_T04_Q3(IN1,IN2)
 *
 * Arguments    : const double in1[4]
 *                const double in2[4]
 *                double u43[16]
 * Return Type  : void
 */
void J_rl_T04_q3(const double in1[4], const double in2[4], double u43[16])
{
  double t10;
  double t11;
  double t12;
  double t13;
  double t14;
  double t15;
  double t16;
  double t17;
  double t18;
  double t19;
  double t2;
  double t20;
  double t21;
  double t3;
  double t4;
  double t46;
  double t47;
  double t48;
  double t49;
  double t5;
  double t59;
  double t6;
  double t61;
  double t61_tmp;
  double t62;
  double t7;
  double t8;
  double t9;
  /*     This function was generated by the Symbolic Math Toolbox version 8.7.
   */
  /*     21-Apr-2025 11:22:22 */
  t2 = cos(in2[0]);
  t3 = cos(in2[1]);
  t4 = cos(in2[2]);
  t5 = cos(in2[3]);
  t6 = cos(in1[0]);
  t7 = cos(in1[1]);
  t8 = cos(in1[2]);
  t9 = cos(in1[3]);
  t10 = sin(in2[0]);
  t11 = sin(in2[1]);
  t12 = sin(in2[2]);
  t13 = sin(in2[3]);
  t14 = sin(in1[0]);
  t15 = sin(in1[1]);
  t16 = sin(in1[2]);
  t17 = sin(in1[3]);
  t18 = t6 * t7;
  t19 = t6 * t15;
  t20 = t2 * t3;
  t21 = t3 * t10;
  t46 = t21 + t2 * t6 * t11;
  t47 = t19 + t3 * t7 * t14;
  t48 = t20 + -(t6 * t10 * t11);
  t49 = t18 + -(t3 * t14 * t15);
  t6 = t7 * t10;
  t59 = (t2 * t11 * t15 + t6 * t14) + t19 * t21;
  t61_tmp = t2 * t7;
  t61 = (t61_tmp * t11 + t18 * t21) + -(t10 * t14 * t15);
  t62 = (t61_tmp * t14 + t19 * t20) + -(t10 * t11 * t15);
  t19 = (t6 * t11 + t2 * t14 * t15) + -(t18 * t20);
  t2 = t4 * t8;
  t15 = (-(t8 * t11 * t12 * t14) + t2 * t47) + t16 * t49;
  t3 = t4 * t16;
  t21 = (t11 * t12 * t14 * t16 + t8 * t49) + -(t3 * t47);
  t6 = t12 * t16;
  t10 = (t6 * t48 + t8 * t59) + t3 * t61;
  t61_tmp = t8 * t12;
  t7 = (t61_tmp * t46 + t16 * t62) + t2 * t19;
  t3 = (t6 * t46 + -(t8 * t62)) + t3 * t19;
  t6 = (t61_tmp * t48 + -(t16 * t59)) + t2 * t61;
  t61_tmp = t5 * t17;
  u43[0] = -t9 * t15 - t61_tmp * t21;
  u43[1] = -t9 * t7 + t61_tmp * t3;
  u43[2] = t9 * t6 - t61_tmp * t10;
  u43[3] = 0.0;
  t61_tmp = t5 * t9;
  u43[4] = t17 * t15 - t61_tmp * t21;
  u43[5] = t17 * t7 + t61_tmp * t3;
  u43[6] = -t17 * t6 - t61_tmp * t10;
  u43[7] = 0.0;
  u43[8] = t13 * t21;
  u43[9] = -t13 * t3;
  u43[10] = t13 * t10;
  u43[11] = 0.0;
  u43[12] = 0.0;
  u43[13] = 0.0;
  u43[14] = 0.0;
  u43[15] = 0.0;
}

/*
 * File trailer for J_rl_T04_q3.c
 *
 * [EOF]
 */
